version: 66.07
glider: 543
mission: 14
dive: 444
start: 11 2 115 1 47 17
data:
$ID,543
$MISSION,14
$DIVE,444
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53008
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25526.727
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,55
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,80
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.053406
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,117
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00012677554
$GPS1,021115,013725,-4302.433,839.617,40,0.9,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-72.7
$GPS2,021115,014653,-4302.444,839.737,14,1.0,15,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,265.4,5820,-17.1,-8.547
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.43,-116.8,0.0,0.0,0,49,0.00,0.00,-32.25,0.000,2,0.000,0.000,63,3212,1357,0,0,0,0,0,0
$GC,52,-0.43,-116.8,3.0,-1.8,4,93,7.07,1.20,-25.85,0.000,4,0.233,0.080,1755,3948,1976,0,0,0,0,0,0
$GC,143,-0.39,-116.8,9.0,-10.0,17,152,0.00,1.05,0.00,0.000,6,0.000,0.031,1755,3226,1978,0,0,0,0,0,0
$GC,202,-0.35,-116.8,14.4,-9.2,26,211,0.12,0.00,0.00,0.000,6,0.166,0.000,1788,3225,1978,0,0,0,0,0,0
$GC,262,-0.40,-116.8,19.1,-7.8,35,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3225,1978,0,0,0,0,0,0
$GC,321,-0.44,-116.8,23.9,-7.6,44,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3226,1978,0,0,0,0,0,0
$GC,474,-0.49,-116.8,34.5,-6.5,69,483,0.12,0.00,0.00,0.000,6,0.090,0.000,1727,3225,1978,0,0,0,0,0,0
$GC,624,-0.39,-116.8,51.0,-12.2,94,631,0.17,0.00,0.00,0.000,6,0.158,0.000,1774,3225,1978,0,0,0,0,0,0
$GC,972,-0.41,-116.8,80.7,-8.3,155,978,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,3225,1978,0,0,0,0,0,0
$GC,1320,-0.43,-116.8,107.2,-7.3,208,1323,0.00,1.15,0.00,0.000,4,0.000,0.057,1770,3951,1978,0,0,0,0,0,0
$GC,1348,-0.43,-116.8,109.7,-8.1,210,1354,0.00,1.08,0.00,0.000,6,0.000,0.031,1770,3209,1978,0,0,0,0,0,0
$GC,1676,-0.43,-116.8,135.6,-8.2,241,1680,0.00,1.30,0.00,0.000,4,0.000,0.027,1770,2291,1978,0,0,0,0,0,0
$GC,1704,-0.46,-116.8,138.2,-8.0,243,1711,0.00,1.50,0.00,0.000,6,0.000,0.050,1764,3216,1978,0,0,0,0,0,0
$GC,2029,-0.46,-116.8,164.8,-8.3,274,2033,0.00,1.15,0.00,0.000,4,0.000,0.056,1758,3950,1978,0,0,0,0,0,0
$GC,2091,-0.44,-116.8,170.3,-8.5,279,2097,0.00,1.08,0.00,0.000,6,0.000,0.031,1759,3203,1978,0,0,0,0,0,0
$GC,2415,-0.44,-116.8,196.8,-8.6,310,2419,0.00,1.17,0.00,0.000,4,0.000,0.057,1753,3949,1978,0,0,0,0,0,0
$GC,2462,-0.42,-116.8,200.8,-9.2,314,2465,0.00,1.08,0.00,0.000,6,0.000,0.031,1753,3203,1978,0,0,0,0,0,0
$GC,2797,-0.40,-116.8,228.5,-7.9,345,2800,0.00,1.17,0.00,0.000,4,0.000,0.055,1748,3948,1978,0,0,0,0,0,0
$GC,2858,-0.37,-116.8,234.5,-9.0,350,2865,0.10,1.08,0.00,0.000,6,0.130,0.030,1780,3212,1978,0,0,0,0,0,0
$GC,3187,-0.42,-116.8,254.1,-6.2,381,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3212,1978,0,0,0,0,0,0
$GC,3514,-0.47,-116.8,277.0,-7.6,412,3518,0.00,1.17,0.00,0.000,4,0.000,0.057,1776,3952,1978,0,0,0,0,0,0
$GC,3565,-0.51,-116.8,281.5,-8.3,416,3574,0.08,1.08,0.00,0.000,6,0.059,0.031,1723,3211,1978,0,0,0,0,0,0
$GC,3890,-0.44,-116.8,317.4,-10.7,447,3894,0.15,1.20,0.00,0.000,4,0.156,0.054,1759,3956,1978,0,0,0,0,0,0
$GC,3915,-0.40,-116.8,319.6,-9.9,449,3919,0.00,1.10,0.00,0.000,6,0.000,0.030,1759,3194,1979,0,0,0,0,0,0
$GC,4246,-0.40,-116.8,344.9,-7.5,480,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3194,1978,0,0,0,0,0,0
$GC,4566,-0.40,-116.8,369.9,-8.0,510,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3195,1978,0,0,0,0,0,0
$GC,4885,-0.40,-116.8,394.8,-7.4,540,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3195,1978,0,0,0,0,0,0
$GC,5204,-0.40,-116.8,417.8,-7.1,559,5208,0.00,1.20,0.00,0.000,4,0.000,0.057,1754,3950,1978,0,0,0,0,0,0
$GC,5243,-0.40,-116.8,420.8,-7.4,560,5250,0.00,1.08,0.00,0.000,6,0.000,0.030,1754,3204,1978,0,0,0,0,0,0
$GC,5560,-0.40,-116.8,443.1,-7.0,576,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3204,1978,0,0,0,0,0,0
$GC,5870,-0.40,-116.8,465.3,-7.6,591,5873,0.00,1.17,0.00,0.000,4,0.000,0.057,1748,3944,1978,0,0,0,0,0,0
$GC,5916,-0.40,-116.8,469.3,-8.3,593,5920,0.00,1.05,0.00,0.000,6,0.000,0.031,1749,3217,1978,0,0,0,0,0,0
$GC,6249,-0.40,-116.8,497.0,-8.5,609,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3216,1978,0,0,0,0,0,0
$GC,6558,-0.40,-116.8,523.6,-8.8,624,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3216,1978,0,0,0,0,0,0
$GC,6868,-0.40,-116.8,551.6,-9.1,639,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3216,1978,0,0,0,0,0,0
$GC,7177,-0.40,-116.8,580.0,-9.2,654,7180,0.00,1.17,0.00,0.000,4,0.000,0.057,1743,3954,1978,0,0,0,0,0,0
$GC,7226,-0.38,-116.8,585.1,-10.5,656,7231,0.10,1.08,0.00,0.000,6,0.130,0.031,1776,3218,1978,0,0,0,0,0,0
$GC,7556,-0.43,-116.8,609.3,-7.6,672,7559,0.00,1.17,0.00,0.000,4,0.000,0.057,1772,3955,1978,0,0,0,0,0,0
$GC,7617,-0.48,-116.8,614.7,-8.7,674,7624,0.00,1.10,0.00,0.000,6,0.000,0.031,1772,3202,1978,0,0,0,0,0,0
$GC,7934,-0.52,-116.8,638.0,-7.0,690,7938,0.10,1.23,0.00,0.000,4,0.107,0.057,1709,3956,1978,0,0,0,0,0,0
$GC,8002,-0.43,-116.8,645.2,-11.7,693,8007,0.15,1.08,0.00,0.000,6,0.138,0.031,1757,3220,1978,0,0,0,0,0,0
$GC,8339,-0.45,-116.8,670.2,-7.5,709,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3220,1978,0,0,0,0,0,0
$GC,8644,-0.47,-116.8,693.2,-7.3,724,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3220,1978,0,0,0,0,0,0
$GC,8954,-0.50,-116.8,714.8,-6.7,739,8957,0.00,1.17,0.00,0.000,4,0.000,0.058,1753,3955,1978,0,0,0,0,0,0
$GC,9009,-0.50,-116.8,719.0,-7.3,741,9013,0.00,1.10,0.00,0.000,6,0.000,0.031,1753,3202,1978,0,0,0,0,0,0
$GC,9331,-0.51,-116.8,739.5,-6.2,757,9335,0.00,1.30,0.00,0.000,4,0.000,0.028,1753,2294,1978,0,0,0,0,0,0
$GC,9359,-0.54,-116.8,741.4,-6.4,758,9363,0.00,1.50,0.00,0.000,6,0.000,0.050,1746,3210,1978,0,0,0,0,0,0
$GC,9686,-0.54,-116.8,762.5,-6.7,774,9690,0.00,1.17,0.00,0.000,4,0.000,0.058,1741,3953,1978,0,0,0,0,0,0
$GC,9800,-0.54,-116.8,771.1,-7.3,779,9804,0.00,1.08,0.00,0.000,6,0.000,0.032,1741,3216,1978,0,0,0,0,0,0
$GC,10133,-0.54,-116.8,797.0,-7.8,795,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3215,1978,0,0,0,0,0,0
$GC,10443,-0.54,-116.8,822.0,-8.4,810,10446,0.00,1.17,0.00,0.000,4,0.000,0.059,1736,3950,1978,0,0,0,0,0,0
$GC,10482,-0.51,-116.8,825.6,-8.6,811,10488,0.00,1.08,0.00,0.000,6,0.000,0.031,1736,3214,1978,0,0,0,0,0,0
$GC,10798,-0.49,-116.8,853.6,-9.0,827,10802,0.00,1.17,0.00,0.000,4,0.000,0.058,1730,3950,1978,0,0,0,0,0,0
$GC,10849,-0.47,-116.8,858.6,-9.3,829,10852,0.00,1.10,0.00,0.000,6,0.000,0.031,1730,3200,1978,0,0,0,0,0,0
$GC,11177,-0.44,-116.8,888.7,-9.2,845,11181,0.12,1.33,0.00,0.000,4,0.161,0.029,1764,2294,1978,0,0,0,0,0,0
$GC,11226,-0.51,-116.8,892.6,-7.5,847,11230,0.00,1.50,0.00,0.000,6,0.000,0.050,1758,3210,1978,0,0,0,0,0,0
$GC,11555,-0.54,-116.8,915.3,-6.9,863,11558,0.00,1.17,0.00,0.000,4,0.000,0.058,1754,3952,1978,0,0,0,0,0,0
$GC,11627,-0.56,-116.8,920.7,-7.1,866,11631,0.00,1.10,0.00,0.000,6,0.000,0.032,1754,3203,1978,0,0,0,0,0,0
$GC,11956,-0.59,-116.8,940.9,-5.9,882,11960,0.12,1.23,0.00,0.000,4,0.096,0.058,1690,3955,1978,0,0,0,0,0,0
$GC,12011,-0.48,-116.8,946.1,-9.4,884,12015,0.17,1.10,0.00,0.000,6,0.142,0.031,1745,3211,1977,0,0,0,0,0,0
$GC,12333,-0.48,-116.8,964.9,-5.6,900,12337,0.00,1.17,0.00,0.000,4,0.000,0.060,1741,3946,1977,0,0,0,0,0,0
$GC,12401,-0.48,-116.8,969.2,-6.6,903,12405,0.00,1.08,0.00,0.000,6,0.000,0.032,1741,3211,1977,0,0,0,0,0,0
$STATE,12608,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12608,begin apogee
$GC,12614,-0.09,0.0,981.4,5.8,913,12755,0.43,0.00,132.65,1.851,6,0.126,0.000,1872,2923,1499,0,0,0,0,1,0
$STATE,12756,end apogee,CONTROL_FINISHED_OK
$STATE,12756,begin climb
$GC,12758,0.43,116.8,983.2,0.0,920,12893,0.50,1.48,128.60,1.800,4,0.085,0.026,2042,2045,1024,0,0,0,0,0,0
$GC,12949,0.43,116.8,968.2,9.7,929,12953,0.00,1.52,0.00,0.000,6,0.000,0.046,2043,2917,1021,0,0,0,0,0,0
$GC,13276,0.39,116.8,933.0,10.7,945,13280,0.00,1.42,0.00,0.000,4,0.000,0.056,2043,3808,1018,0,0,0,0,0,0
$GC,13390,0.31,116.8,919.0,13.4,950,13394,0.12,1.33,0.00,0.000,6,0.162,0.030,2012,2907,1017,0,0,0,0,0,0
$GC,13723,0.36,135.0,892.4,7.7,966,13746,0.00,1.52,17.95,1.727,4,0.000,0.057,2012,3810,947,0,0,0,0,0,0
$GC,13796,0.36,135.0,885.9,9.3,969,13801,0.00,1.33,0.00,0.000,6,0.000,0.030,2016,2926,947,0,0,0,0,0,0
$GC,14124,0.40,149.9,859.6,7.8,985,14144,0.00,0.00,15.52,1.707,6,0.000,0.000,2017,2926,887,0,0,0,0,0,0
$GC,14454,0.47,181.8,835.5,7.0,1001,14494,0.12,0.00,32.53,1.746,6,0.099,0.000,2071,2926,759,0,0,0,0,0,0
$GC,14804,0.41,181.8,793.6,12.4,1018,14808,0.12,1.45,0.00,0.000,4,0.170,0.057,2039,3811,757,0,0,0,0,0,0
$GC,14853,0.39,181.8,787.4,12.6,1020,14857,0.00,1.33,0.00,0.000,6,0.000,0.029,2044,2916,757,0,0,0,0,0,0
$GC,15180,0.39,181.8,755.8,9.4,1036,15184,0.00,1.45,0.00,0.000,4,0.000,0.055,2044,3814,756,0,0,0,0,0,0
$GC,15213,0.36,181.8,752.2,10.9,1037,15217,0.08,1.33,0.00,0.000,6,0.161,0.029,2027,2916,756,0,0,0,0,0,0
$GC,15536,0.38,181.8,723.2,9.1,1053,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2915,755,0,0,0,0,0,0
$GC,15844,0.42,181.8,695.0,9.1,1068,15848,0.00,1.45,0.00,0.000,4,0.000,0.056,2027,3813,755,0,0,0,0,0,0
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$STATE,22025,end climb,SURFACE_DEPTH_REACHED
$STATE,22025,begin surface coast
$FINISH,1.8,1.026509
$STATE,22045,end surface coast,CONTROL_FINISHED_OK
$STATE,22045,begin surface
$SM_CCo,22119,0.00,0.000,0,0,542,234.99
$SM_GC,2.75,5.25,0.00,0.00,0.045,0.000,0.000,70,3215,542,-5.65,0.17,234.99
$IRIDIUM_FIX,-4244.98,837.38,280808,080845
$TT8_MAMPS,0.026964
$HUMID,64.13
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,20.9,81.770
$10V_AH,9.8,54.097
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.200,111.950,380.600,0.000,0.000,38.345,22.726,346.124,0.000,0.000,18.005,3910.094,13987.623,526.231,3854.347,394.111,0.000,2034.406,0.000,3435.021,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,79.560,1851.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.858,1117.823,1125.087,107.114,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,90214,1573
$CAP_FILE_SIZE,218472,0
$CFSIZE,259252224,221065216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,021115,075703,-4302.453,839.890,32,1.2,32,-25.1